Package org.team1540.rooster.util

Class ControlUtils

java.lang.Object

org.team1540.rooster.util.ControlUtils

public class ControlUtils
extends Object

Constructor Summary

Constructors

Constructor	Description
ControlUtils()

Method Summary

Modifier and Type	Method	Description
static double	constrainAbsValue(double velocity, double maxVelocity, double minVelocity)
static double	constrainAndDeadzone(double output, double max, double min, double deadzone)
static double	deadzone(double input, boolean allowNegativeValues, double fast, double slow, double fastX, double slowX)	https://www.desmos.com/calculator/ybuyhcfzgm
static double	deadzone(double axis, double deadzone)	Processes an axis with a deadzone.
static double	simpleDeadzone(double axis, double deadzone)	Processes an axis and returns the value only if it is outside the provided deadzone.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ControlUtils

public ControlUtils()

Method Detail

constrainAbsValue

public static double constrainAbsValue(double velocity,
                                       double maxVelocity,
                                       double minVelocity)

simpleDeadzone

public static double simpleDeadzone(double axis,
                                    double deadzone)

Processes an axis and returns the value only if it is outside the provided deadzone.

Parameters:

axis - The axis to return.

deadzone - The deadzone to use.

Returns:

If |axis| is greater than |deadzone|, returns axis; otherwise, returns 0.

constrainAndDeadzone

public static double constrainAndDeadzone(double output,
                                          double max,
                                          double min,
                                          double deadzone)

deadzone

public static double deadzone(double input,
                              boolean allowNegativeValues,
                              double fast,
                              double slow,
                              double fastX,
                              double slowX)

https://www.desmos.com/calculator/ybuyhcfzgm

Parameters:

input - x

fast - f

slow - s

fastX - b, fastX < slowX

slowX - a

Returns:

y

deadzone

@Contract(pure=true)
public static double deadzone(double axis,
                              double deadzone)

Processes an axis with a deadzone. This implementation scales the output such that the area between the deadzone and 1 is mapped to the full range of motion.

Full implementation details: The function processes the deadzone according to the function \(\DeclareMathOperator{\sgn}{sgn}\frac{d(x)-Z\sgn(d(x))}{1-Z}\), where \(x\) is the axis parameter, \(Z\) is the deadzone parameter, and \(d(x)\) is the deadzone function \(d(x)=\begin{cases}x & |x| \geq D \\ 0 & |x| < D\end{cases}\). (Note: Equations may require viewing the Javadoc using a browser.)

Parameters:

axis - The axis to return.

deadzone - The deadzone to use.

Returns:

The axis value processed with respect to the specified deadzone.